make GLUT optional in cmake

fix for btMultiBody to avoid extreme energy gain
2014-03-17 23:58:03 -07:00
parent 9f92232640
commit cfb06f9cd3
51 changed files with 464 additions and 27 deletions
--- a/ObsoleteDemos/BasicDemo/CMakeLists.txt
+++ b/ObsoleteDemos/BasicDemo/CMakeLists.txt
@@ -12,7 +12,8 @@ SET(GLUT_ROOT ${BULLET_PHYSICS_SOURCE_DIR}/Glut)
 ########################################################

 INCLUDE_DIRECTORIES(
-${BULLET_PHYSICS_SOURCE_DIR}/src ../OpenGL 
+${BULLET_PHYSICS_SOURCE_DIR}/src ../OpenGL
+${GLUT_INCLUDE_DIR}
 )


--- a/ObsoleteDemos/Benchmarks/CMakeLists.txt
+++ b/ObsoleteDemos/Benchmarks/CMakeLists.txt
@@ -13,6 +13,7 @@ IF (USE_GLUT)
 	INCLUDE_DIRECTORIES(
 		${BULLET_PHYSICS_SOURCE_DIR}/src 
 		../OpenGL 
+		${GLUT_INCLUDE_DIR}
 	)

 	IF (USE_MULTITHREADED_BENCHMARK)
--- a/ObsoleteDemos/Box2dDemo/CMakeLists.txt
+++ b/ObsoleteDemos/Box2dDemo/CMakeLists.txt
@@ -17,6 +17,7 @@ ${BULLET_PHYSICS_SOURCE_DIR}/src
 )

 IF (USE_GLUT)
+	INCLUDE_DIRECTORIES( ${GLUT_INCLUDE_DIR} )
 	LINK_LIBRARIES(
 		OpenGLSupport  BulletDynamics  BulletCollision LinearMath    ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
 	)
--- a/ObsoleteDemos/BspDemo/CMakeLists.txt
+++ b/ObsoleteDemos/BspDemo/CMakeLists.txt
@@ -12,6 +12,8 @@
 INCLUDE_DIRECTORIES(
 ${BULLET_PHYSICS_SOURCE_DIR}/src 
 ../OpenGL
+${GLUT_INCLUDE_DIR}
+
 )

 LINK_LIBRARIES(
--- a/ObsoleteDemos/CcdPhysicsDemo/CMakeLists.txt
+++ b/ObsoleteDemos/CcdPhysicsDemo/CMakeLists.txt
@@ -14,6 +14,7 @@
 INCLUDE_DIRECTORIES(
 ${BULLET_PHYSICS_SOURCE_DIR}/src 
 ../OpenGL
+${GLUT_INCLUDE_DIR}
 )

 LINK_LIBRARIES(
--- a/ObsoleteDemos/CharacterDemo/CMakeLists.txt
+++ b/ObsoleteDemos/CharacterDemo/CMakeLists.txt
@@ -12,6 +12,7 @@
 INCLUDE_DIRECTORIES(
 ${BULLET_PHYSICS_SOURCE_DIR}/src 
 ../OpenGL
+${GLUT_INCLUDE_DIR}
 )

 LINK_LIBRARIES(
--- a/ObsoleteDemos/CollisionDemo/CMakeLists.txt
+++ b/ObsoleteDemos/CollisionDemo/CMakeLists.txt
@@ -13,6 +13,7 @@
 INCLUDE_DIRECTORIES(
 ${BULLET_PHYSICS_SOURCE_DIR}/src 
 ../OpenGL
+${GLUT_INCLUDE_DIR}
 )

 LINK_LIBRARIES(
--- a/ObsoleteDemos/CollisionInterfaceDemo/CMakeLists.txt
+++ b/ObsoleteDemos/CollisionInterfaceDemo/CMakeLists.txt
@@ -14,6 +14,7 @@ IF (USE_GLUT)
 	INCLUDE_DIRECTORIES(
 	${BULLET_PHYSICS_SOURCE_DIR}/src 
 	../OpenGL 
+	${GLUT_INCLUDE_DIR}
 	)

 	LINK_LIBRARIES(
--- a/ObsoleteDemos/ConcaveConvexcastDemo/CMakeLists.txt
+++ b/ObsoleteDemos/ConcaveConvexcastDemo/CMakeLists.txt
@@ -13,6 +13,7 @@
 INCLUDE_DIRECTORIES(
 ${BULLET_PHYSICS_SOURCE_DIR}/src 
 ../OpenGL 
+${GLUT_INCLUDE_DIR}
 )

 LINK_LIBRARIES(
--- a/ObsoleteDemos/ConcaveRaycastDemo/CMakeLists.txt
+++ b/ObsoleteDemos/ConcaveRaycastDemo/CMakeLists.txt
@@ -13,6 +13,7 @@
 INCLUDE_DIRECTORIES(
 ${BULLET_PHYSICS_SOURCE_DIR}/src 
 ../OpenGL 
+${GLUT_INCLUDE_DIR}
 )

 LINK_LIBRARIES(
--- a/ObsoleteDemos/ContinuousConvexCollision/CMakeLists.txt
+++ b/ObsoleteDemos/ContinuousConvexCollision/CMakeLists.txt
@@ -13,6 +13,7 @@
 INCLUDE_DIRECTORIES(
 ${BULLET_PHYSICS_SOURCE_DIR}/src 
 ../OpenGL 
+${GLUT_INCLUDE_DIR}
 )

 LINK_LIBRARIES(
--- a/ObsoleteDemos/ConvexHullDistance/CMakeLists.txt
+++ b/ObsoleteDemos/ConvexHullDistance/CMakeLists.txt
@@ -14,6 +14,7 @@ SET(GLUT_ROOT ${BULLET_PHYSICS_SOURCE_DIR}/Glut)
 INCLUDE_DIRECTORIES(
 ${BULLET_PHYSICS_SOURCE_DIR}/src 
 ../OpenGL 
+${GLUT_INCLUDE_DIR}
 )


--- a/ObsoleteDemos/DoublePrecisionDemo/CMakeLists.txt
+++ b/ObsoleteDemos/DoublePrecisionDemo/CMakeLists.txt
@@ -13,6 +13,7 @@
 INCLUDE_DIRECTORIES(
 ${BULLET_PHYSICS_SOURCE_DIR}/src 
 ../OpenGL 
+${GLUT_INCLUDE_DIR}
 )

 LINK_LIBRARIES(
--- a/ObsoleteDemos/DynamicControlDemo/CMakeLists.txt
+++ b/ObsoleteDemos/DynamicControlDemo/CMakeLists.txt
@@ -13,6 +13,7 @@
 INCLUDE_DIRECTORIES(
 ${BULLET_PHYSICS_SOURCE_DIR}/src 
 ../OpenGL 
+${GLUT_INCLUDE_DIR}
 )

 LINK_LIBRARIES(
--- a/ObsoleteDemos/FeatherstoneMultiBodyDemo/CMakeLists.txt
+++ b/ObsoleteDemos/FeatherstoneMultiBodyDemo/CMakeLists.txt
@@ -14,6 +14,7 @@ SET(GLUT_ROOT ${BULLET_PHYSICS_SOURCE_DIR}/Glut)
 INCLUDE_DIRECTORIES(
 ${BULLET_PHYSICS_SOURCE_DIR}/src 
 ../OpenGL 
+${GLUT_INCLUDE_DIR}
 )


--- a/ObsoleteDemos/FeatherstoneMultiBodyDemo/FeatherstoneMultiBodyDemo.cpp
+++ b/ObsoleteDemos/FeatherstoneMultiBodyDemo/FeatherstoneMultiBodyDemo.cpp
@@ -285,7 +285,8 @@ btMultiBody* FeatherstoneMultiBodyDemo::createFeatherstoneMultiBody(class btMult
 	btVector3 inertia = btVector3 (91,344,253)*scaling*scaling;
 	
 	
-	btMultiBody * bod = new btMultiBody(n_links, mass, inertia, settings.m_isFixedBase, settings.m_canSleep);
+	bool multiDof = false;
+	btMultiBody * bod = new btMultiBody(n_links, mass, inertia, settings.m_isFixedBase, settings.m_canSleep,multiDof);
 //		bod->setHasSelfCollision(false);

 	//btQuaternion orn(btVector3(0,0,1),-0.25*SIMD_HALF_PI);//0,0,0,1);
@@ -360,7 +361,7 @@ btMultiBody* FeatherstoneMultiBodyDemo::createFeatherstoneMultiBody(class btMult
 				{	
 					if (1)
 					{
-						btMultiBodyJointMotor* con = new btMultiBodyJointMotor(bod,i,0,500000); 
+						btMultiBodyJointMotor* con = new btMultiBodyJointMotor(bod,i,0,0,500000); 
 						world->addMultiBodyConstraint(con);
 					}

@@ -447,6 +448,8 @@ btMultiBody* FeatherstoneMultiBodyDemo::createFeatherstoneMultiBody(class btMult
 		}

 	}
+
+
 	world->addMultiBody(bod);

 	return bod;
--- a/ObsoleteDemos/ForkLiftDemo/CMakeLists.txt
+++ b/ObsoleteDemos/ForkLiftDemo/CMakeLists.txt
@@ -14,6 +14,7 @@ SET(GLUT_ROOT ${BULLET_PHYSICS_SOURCE_DIR}/Glut)
 INCLUDE_DIRECTORIES(
 	${BULLET_PHYSICS_SOURCE_DIR}/src 
 	../OpenGL 
+	${GLUT_INCLUDE_DIR}
 )

 LINK_LIBRARIES(
--- a/ObsoleteDemos/FractureDemo/CMakeLists.txt
+++ b/ObsoleteDemos/FractureDemo/CMakeLists.txt
@@ -14,6 +14,7 @@ SET(GLUT_ROOT ${BULLET_PHYSICS_SOURCE_DIR}/Glut)
 INCLUDE_DIRECTORIES(
 ${BULLET_PHYSICS_SOURCE_DIR}/src 
 ../OpenGL 
+${GLUT_INCLUDE_DIR}
 )


--- a/ObsoleteDemos/GenericJointDemo/CMakeLists.txt
+++ b/ObsoleteDemos/GenericJointDemo/CMakeLists.txt
@@ -14,6 +14,7 @@ IF (USE_GLUT)
 	INCLUDE_DIRECTORIES(
 	${BULLET_PHYSICS_SOURCE_DIR}/src 
 	../OpenGL 
+	${GLUT_INCLUDE_DIR}
 	)

 	LINK_LIBRARIES(
--- a/ObsoleteDemos/GjkConvexCastDemo/CMakeLists.txt
+++ b/ObsoleteDemos/GjkConvexCastDemo/CMakeLists.txt
@@ -13,6 +13,7 @@
 INCLUDE_DIRECTORIES(
 ${BULLET_PHYSICS_SOURCE_DIR}/src 
 ../OpenGL 
+${GLUT_INCLUDE_DIR}
 )

 LINK_LIBRARIES(
--- a/ObsoleteDemos/GyroscopicDemo/CMakeLists.txt
+++ b/ObsoleteDemos/GyroscopicDemo/CMakeLists.txt
@@ -13,7 +13,8 @@

 INCLUDE_DIRECTORIES(
 ${BULLET_PHYSICS_SOURCE_DIR}/src 
-../OpenGL 
+../OpenGL
+${GLUT_INCLUDE_DIR} 
 )


--- a/ObsoleteDemos/InternalEdgeDemo/CMakeLists.txt
+++ b/ObsoleteDemos/InternalEdgeDemo/CMakeLists.txt
@@ -13,6 +13,7 @@ IF (USE_GLUT)
 	INCLUDE_DIRECTORIES(
 	${BULLET_PHYSICS_SOURCE_DIR}/src 
 	../OpenGL 
+	${GLUT_INCLUDE_DIR}
 	)

 	LINK_LIBRARIES(
--- a/ObsoleteDemos/MovingConcaveDemo/CMakeLists.txt
+++ b/ObsoleteDemos/MovingConcaveDemo/CMakeLists.txt
@@ -15,6 +15,7 @@ SET(GLUT_ROOT ${BULLET_PHYSICS_SOURCE_DIR}/Glut)
 INCLUDE_DIRECTORIES(
 ${BULLET_PHYSICS_SOURCE_DIR}/src 
 ../OpenGL 
+ ${GLUT_INCLUDE_DIR}
 )

 LINK_LIBRARIES(
--- a/ObsoleteDemos/MultiMaterialDemo/CMakeLists.txt
+++ b/ObsoleteDemos/MultiMaterialDemo/CMakeLists.txt
@@ -13,6 +13,7 @@
 INCLUDE_DIRECTORIES(
 ${BULLET_PHYSICS_SOURCE_DIR}/src 
 ../OpenGL 
+${GLUT_INCLUDE_DIR}
 )

 LINK_LIBRARIES(
--- a/ObsoleteDemos/OpenGL/CMakeLists.txt
+++ b/ObsoleteDemos/OpenGL/CMakeLists.txt
@@ -15,6 +15,7 @@

 INCLUDE_DIRECTORIES(
 ${BULLET_PHYSICS_SOURCE_DIR}/src ${BULLET_PHYSICS_SOURCE_DIR}/Extras/ConvexHull  
+${GLUT_INCLUDE_DIR}
 )

 		
--- a/ObsoleteDemos/RagdollDemo/CMakeLists.txt
+++ b/ObsoleteDemos/RagdollDemo/CMakeLists.txt
@@ -13,6 +13,7 @@
 INCLUDE_DIRECTORIES(
 ${BULLET_PHYSICS_SOURCE_DIR}/src 
 ../OpenGL 
+${GLUT_INCLUDE_DIR}
 )

 LINK_LIBRARIES(
--- a/ObsoleteDemos/RaytestDemo/CMakeLists.txt
+++ b/ObsoleteDemos/RaytestDemo/CMakeLists.txt
@@ -14,6 +14,7 @@ SET(GLUT_ROOT ${BULLET_PHYSICS_SOURCE_DIR}/Glut)
 INCLUDE_DIRECTORIES(
 ${BULLET_PHYSICS_SOURCE_DIR}/src 
 ../OpenGL 
+${GLUT_INCLUDE_DIR}
 )


--- a/ObsoleteDemos/Raytracer/CMakeLists.txt
+++ b/ObsoleteDemos/Raytracer/CMakeLists.txt
@@ -13,6 +13,7 @@
 INCLUDE_DIRECTORIES(
 ${BULLET_PHYSICS_SOURCE_DIR}/src 
 ../OpenGL 
+${GLUT_INCLUDE_DIR}
 )

 LINK_LIBRARIES(
--- a/ObsoleteDemos/RollingFrictionDemo/CMakeLists.txt
+++ b/ObsoleteDemos/RollingFrictionDemo/CMakeLists.txt
@@ -14,6 +14,7 @@ SET(GLUT_ROOT ${BULLET_PHYSICS_SOURCE_DIR}/Glut)
 INCLUDE_DIRECTORIES(
 ${BULLET_PHYSICS_SOURCE_DIR}/src 
 ../OpenGL 
+${GLUT_INCLUDE_DIR}
 )


--- a/ObsoleteDemos/SimplexDemo/CMakeLists.txt
+++ b/ObsoleteDemos/SimplexDemo/CMakeLists.txt
@@ -13,6 +13,7 @@
 INCLUDE_DIRECTORIES(
 ${BULLET_PHYSICS_SOURCE_DIR}/src 
 ../OpenGL 
+${GLUT_INCLUDE_DIR}
 )

 LINK_LIBRARIES(
--- a/ObsoleteDemos/SliderConstraintDemo/CMakeLists.txt
+++ b/ObsoleteDemos/SliderConstraintDemo/CMakeLists.txt
@@ -14,6 +14,7 @@
 INCLUDE_DIRECTORIES(
 ${BULLET_PHYSICS_SOURCE_DIR}/src 
 ../OpenGL 
+${GLUT_INCLUDE_DIR}
 )

 LINK_LIBRARIES(
--- a/ObsoleteDemos/SoftDemo/CMakeLists.txt
+++ b/ObsoleteDemos/SoftDemo/CMakeLists.txt
@@ -15,6 +15,7 @@ IF (USE_GLUT)
 	INCLUDE_DIRECTORIES(
 	${BULLET_PHYSICS_SOURCE_DIR}/src 
 	../OpenGL 
+	${GLUT_INCLUDE_DIR}
 	)

 	LINK_LIBRARIES(
--- a/ObsoleteDemos/UserCollisionAlgorithm/CMakeLists.txt
+++ b/ObsoleteDemos/UserCollisionAlgorithm/CMakeLists.txt
@@ -14,6 +14,7 @@
 INCLUDE_DIRECTORIES(
 ${BULLET_PHYSICS_SOURCE_DIR}/src 
 ../OpenGL  
+${GLUT_INCLUDE_DIR}
 )

 LINK_LIBRARIES(
--- a/ObsoleteDemos/VehicleDemo/CMakeLists.txt
+++ b/ObsoleteDemos/VehicleDemo/CMakeLists.txt
@@ -14,6 +14,7 @@
 INCLUDE_DIRECTORIES(
 ${BULLET_PHYSICS_SOURCE_DIR}/src 
 ../OpenGL 
+${GLUT_INCLUDE_DIR}
 )

 LINK_LIBRARIES(
--- a/ObsoleteDemos/VoronoiFractureDemo/CMakeLists.txt
+++ b/ObsoleteDemos/VoronoiFractureDemo/CMakeLists.txt
@@ -14,6 +14,7 @@ SET(GLUT_ROOT ${BULLET_PHYSICS_SOURCE_DIR}/Glut)
 INCLUDE_DIRECTORIES(
 ${BULLET_PHYSICS_SOURCE_DIR}/src 
 ../OpenGL 
+${GLUT_INCLUDE_DIR}
 )